PID improvements for ADwin

Adwin: Set PID gains and limits only once during init and not later when it's activated. Added extra dataset in shot file containing thise PID config.

ADwinProII/blacs_workers.py

@@ -29,7 +29,7 @@ class ADwinProIIWorker(Worker):
     def init(self):
         self.timing = None
         self.h5file = None
-        self.smart_cache = {"AOUT":None, "PIDs":None, "AIN":None}
+        self.smart_cache = {"AOUT":None, "PIDs":None, "PID_CONFIG":None, "AIN":None}
         self.smart_cache.update({DIO:None for DIO in self.DIO_ADwin_DataNo})
         self.process_number_buffered = int(self.process_buffered[-1])
         self.process_number_manual = int(self.process_manual[-1])
@@ -164,11 +164,19 @@ class ADwinProIIWorker(Worker):
                 self.adw.SetData_Long(PIDs["n_cycles"], 4, 1, PIDs.shape[0])
                 self.adw.SetData_Long(PIDs["AOUT_channel"], 5, 1, PIDs.shape[0])
                 self.adw.SetData_Long(PIDs["PID_channel"], 6, 1, PIDs.shape[0])
-                self.adw.SetData_Float(PIDs["PID_P"], 25, 1, PIDs.shape[0])
-                self.adw.SetData_Float(PIDs["PID_I"], 26, 1, PIDs.shape[0])
-                self.adw.SetData_Float(PIDs["PID_D"], 27, 1, PIDs.shape[0])
-                self.adw.SetData_Long(PIDs["PID_min"], 28, 1, PIDs.shape[0])
-                self.adw.SetData_Long(PIDs["PID_max"], 29, 1, PIDs.shape[0])
+                self.adw.SetData_Long(PIDs["PID_start"], 30, 1, PIDs.shape[0])
+            PID_config = group["ANALOG_OUT/PID_CONFIG"]
+            if fresh or not np.array_equal(PID_config[:],self.smart_cache["PID_CONFIG"]):
+                print("PID_CONFIG programmed.")
+                self.smart_cache["PID_CONFIG"] = PID_config[:]
+                n_PID = PID_config.shape[0]
+                self.adw.Set_Par(22,n_PID)
+                self.adw.SetData_Long(PID_config["PID_channel"], 24, 1, n_PID)
+                self.adw.SetData_Float(PID_config["PID_P"], 25, 1, n_PID)
+                self.adw.SetData_Float(PID_config["PID_I"], 26, 1, n_PID)
+                self.adw.SetData_Float(PID_config["PID_D"], 27, 1, n_PID)
+                self.adw.SetData_Long(PID_config["PID_min"], 28, 1, n_PID)
+                self.adw.SetData_Long(PID_config["PID_max"], 29, 1, n_PID)
             AIN = group["ANALOG_IN/TIMES"]
             if fresh or not np.array_equal(AIN[:],self.smart_cache["AIN"]):
                 print("AIN programmed.")